Robot control method

Abstract

A robot control method utilizing a convolution in which a calculating method is simple. Simultaneously, a synchronous operation of a multi-shaft system, such as a computerized numerical control machine tool or robot, is made easy by convolving an input displacement quantity to a previously defined torque locus. The method comprises a first step of seeking a filter characteristic function most suitable for the control system, a second step of storing the filter characteristic function obtained at said first step for producing an input signal with respect to a displacement quantity desired to drive the robot, a fourth step of convolving the filter characteristic function and the input signal with respect to the displacement quantity obtained at the first step and third step, a fifth step for seeking the position locus by integrating the speed locus obtained at the fourth step, and sixth step for driving the robot in response to the speed locus and the position locus obtained at the fourth step and fifth step.

Dependencies are inferred from the claim text.